Patent Application
20240089637
The present disclosure relates to an imaging apparatus that captures an image of a subject.
Some imaging apparatuses include, for example, a first semiconductor substrate provided with a plurality of light-receiving pixels and a second semiconductor substrate provided with a plurality of AD converters. For example, PTL 1 discloses a technique in which each of the plurality of AD converters performs AD conversion on the basis of light reception results of the light-receiving pixels provided in a region corresponding to a region in which the AD converters are arranged.
Incidentally, an imaging apparatus is desired to have high image quality, and is expected to have further improved image quality.
It is desirable to provide an imaging apparatus that makes it possible to enhance image quality.
An imaging apparatus according to an embodiment of the present disclosure includes a pixel array and a readout section. The pixel array includes a plurality of light-receiving pixels including a first light-receiving pixel, a second light-receiving pixel, and a third light-receiving pixel, each generating a pixel signal. The first light-receiving pixel, the second light-receiving pixel, and the third light-receiving pixel are arranged in this order in a first direction. The readout section includes a first AD converter that performs AD conversion on the basis of each of the pixel signal generated by the first light-receiving pixel and the pixel signal generated by the third light-receiving pixel, and a second AD converter that performs AD conversion on the basis of the pixel signal generated by the second light-receiving pixel.
In the imaging apparatus according to an embodiment of the present disclosure, the plurality of light-receiving pixels including the first light-receiving pixel, the second light-receiving pixel, and the third light-receiving pixel is provided in the pixel array. In each of the plurality of light-receiving pixels, a pixel signal in response to a received light amount is generated. The first light-receiving pixel, the second light-receiving pixel, and the third light-receiving pixel are arranged in this order in the first direction. In the readout section, the first AD converter performs AD conversion on the basis of the pixel signal generated by the first light-receiving pixel and the pixel signal generated by the third light-receiving pixel, and the second AD converter performs AD conversion on the basis of the pixel signal generated by the second light-receiving pixel.
Hereinafter, detailed description is given of an embodiment of the present disclosure with reference to the drawings. It is to be noted that the description is given in the following order.
The pixel array 11 includes a plurality of light-receiving pixels P arranged in matrix. The light-receiving pixel P is configured to generate a signal SIG including a pixel voltage Vpix in response to a received light amount.
The pixel array 11 includes a plurality of signal lines VSL1 and a plurality of signal lines VSL2. The signal line VSL1 and the signal line VSL2 are configured to transmit, to the readout section 13, the signal SIG including the pixel voltage Vpix in response to a received light amount. The imaging apparatus 1 has an operation mode M1 and an operation mode M2; the signal line VSL1 is used in the operation mode M1, and the signal line VSL2 is used in the operation mode M2.
The signal lines VSL1 are provided respectively to correspond to the pixel groups GP. The signal lines VSL1 are coupled to nine light-receiving pixels P in this example.
The signal lines VSL2 are coupled to nine light-receiving pixels P in this example. The nine light-receiving pixels P coupled to the signal line VSL2 differ from the nine light-receiving pixels P coupled to the signal line VSL1.
The photodiode PD is a photoelectric conversion element that generates electric charge of an amount corresponding to a received light amount and accumulates therein the generated electric charge. An anode of the photodiode PD is grounded, and a cathode thereof is coupled to a source of the transistor TRG.
A gate of the transistor TRG is supplied with a control signal STRG by the drive section 12, the source thereof is coupled to the cathode of the photodiode PD, and a drain thereof is coupled to the floating diffusion FD.
The floating diffusion FD is configured to accumulate electric charge transferred from the photodiode PD via the transistor TRG. The floating diffusion FD is configured using, for example, a diffusion layer formed on a surface of the semiconductor substrate. In
A gate of the transistor RST is supplied with a control signal SRST by the drive section 12, a drain thereof is supplied with a power supply voltage VDD, and a source thereof is coupled to the floating diffusion FD. It is to be noted that the drain of the transistor RST is supplied with the power supply voltage VDD in this example, but this is not limitative; the drain of the transistor RST can be supplied with a predetermined direct-current voltage.
A gate of the transistor AMP is coupled to the floating diffusion FD, a drain thereof is supplied with the power supply voltage VDD, and a source thereof is coupled to a drain of the transistor SEL1 and a drain of the transistor SEL2.
A gate of the transistor SEL1 is supplied with a control signal SSEL1 by the drive section 12, the drain thereof is coupled to the source of the transistor AMP, and a source thereof is coupled to the signal line VSL1. A gate of the transistor SEL2 is supplied with a control signal SSEL2 by the drive section 12, the drain thereof is coupled to the source of the transistor AMP, and a source thereof is coupled to the signal line VSL2. The signal line VSL1 coupled to the source of the transistor SEL1 and the signal line VSL2 coupled to the source of the transistor SEL2 are respectively coupled to different readout circuits 20, for example, as illustrated in
This configuration brings the transistors TRG and RST into an ON state on the basis of the control signals STRG and SRST, for example, in the light-receiving pixel P, thereby discharging electric charge accumulated in the photodiode PD. Then, these transistors TRG and RST are brought into an OFF state, whereby an exposure period is started, allowing electric charge of an amount corresponding to a received light amount to be accumulated in the photodiode PD. Then, after the end of the exposure period, the light-receiving pixel P outputs the signal SIG including a reset voltage Vreset and the pixel voltage Vpix to the signal line VSL1 or the signal line VSL2. The light-receiving pixel P outputs the signal SIG to the signal line VSL1 in the operation mode M1, and outputs the signal SIG to the signal line VSL2 in the operation mode M2.
Specifically, in the operation mode M1, first, the transistor SEL1 is brought into an ON state on the basis of the control signal SSEL1 to thereby allow the light-receiving pixel P to be electrically coupled to the signal line VSLL. This allows the transistor AMP to be coupled to a constant current source 22 (described later) of the readout section 13 and to operate as a so-called source follower. As described later, during a P-phase (Pre-charge phase) period TP after resetting of a voltage of the floating diffusion FD as a result of the transistor RST being brought into an ON state, the light-receiving pixel P outputs, as the reset voltage Vreset, a voltage corresponding to the voltage of the floating diffusion FD at that time. In addition, during a D-phase (Data phase) period TD after transfer of electric charge from the photodiode PD to the floating diffusion FD as a result of the transistor RST being brought into the ON state, the light-receiving pixel P outputs, as the pixel voltage Vpix, a voltage corresponding to the voltage of the floating diffusion FD at that time. The difference voltage between the pixel voltage Vpix and the reset voltage Vreset corresponds to a received light amount of the light-receiving pixel P. In this manner, the light-receiving pixel P outputs the signal SIG including these reset voltage Vreset and pixel voltage Vpix to the signal line VSL1. The same applies to the operation mode M2, in which the light-receiving pixel P outputs the signal SIG including the reset voltage Vreset and the pixel voltage Vpix to the signal line VSL2.
The drive section 12 (
The readout section 13 is configured to generate an image signal Spic0 by performing AD conversion on the basis of the signal SIG supplied from the pixel array 11 via the signal line VSL1 or the signal line VSL2 and on the basis of an instruction from the imaging control section 15. As illustrated in
As illustrated in
The switch 21 is coupled to the signal lines VSL1 and VSL2 in a pixel group GP corresponding to the readout circuit 20, and is configured to couple the signal line VSL1 and the signal line VSL2 to the AD converter 23. The switch 21 includes two transistors TR1 and TR2. The transistors TR1 and TR2 are each an N-type MOS transistor. A gate of the transistor TR1 is supplied with a control signal from the imaging control section 15, a drain thereof is coupled to the signal line VSL1, and a source thereof is coupled to the constant current source 22 and is coupled to the AD converter 23. A gate of the transistor TR2 is supplied with a control signal from the imaging control section 15, a drain thereof is coupled to the signal line VSL2, and a source thereof is coupled to the constant current source 22 and is coupled to the AD converter 23.
This configuration allows, in a case where the operation mode M of the imaging apparatus 1 is the operation mode M1, the transistor TR1 to be brought into an ON state and the transistor TR2 to be brought into an OFF state. This allows the switch 21 to couple the signal line VSL1 to the AD converter 23 and to supply the AD converter 23 with the signal SIG supplied from the light-receiving pixel P via the signal line VSL1. In addition, in a case where the operation mode M of the imaging apparatus 1 is the operation mode M2, the transistor TR2 is brought into an ON state, and the transistor TR1 is brought into an OFF state. This allows the switch 21 to couple the signal line VSL2 to the AD converter 23 and to supply the AD converter 23 with the signal SIG supplied from the light-receiving pixel P via the signal line VSL2.
The constant current source 22 is configured to flow a predetermined current to one of the signal lines VSL1 and VSL2 selected by the switch 21. One end of the constant current source 22 is coupled to the switch 21, and the other end thereof is grounded.
The AD converter 23 is configured to perform AD conversion on the basis of the signal SIG supplied from the light-receiving pixel P via the signal line VSL1 or the signal line VSL2. The AD converter 23 includes capacitors 24 and 25, a comparison circuit 26, and a counter 27.
One end of the capacitor 24 is coupled to the switch 21 and is supplied with the signal SIG, and the other end thereof is coupled to the comparison circuit 26. One end of the capacitor 25 is supplied with a reference signal RAMP, and the other end thereof is coupled to the comparison circuit 26.
The comparison circuit 26 is configured to generate a signal CP by performing a comparison operation on the basis of the signal SIG supplied from the light-receiving pixel P via the capacitor 24 and the reference signal RAMP supplied from the imaging control section 15 via the capacitor 25. The comparison circuit 26 sets an operating point by setting voltages of the capacitors 24 and 25 on the basis of a control signal AZ supplied from the imaging control section 15. Thereafter, the comparison circuit 26 performs a comparison operation to compare the reset voltage Vreset included in the signal SIG and a voltage of the reference signal RAMP with each other in the P-phase period TP, and performs a comparison operation to compare the pixel voltage Vpix included in the signal SIG and the voltage of the reference signal RAMP with each other in the D-phase period TD.
The counter 27 is configured to perform a count operation to count pulses of a clock signal CLK supplied from the imaging control section 15 on the basis of the signal CP supplied from the comparison circuit 26. Specifically, in the P-phase period TP, the counter 27 counts pulses of the clock signal CLK until transition of the signal CP to thereby generate a count value CNTP and output this count value CNTP. In addition, in the D-phase period TD, the counter 27 counts pulses of the clock signal CLK until transition of the signal CP to thereby generate a count value CNTD and output this count value CNTD.
In this manner, each of a plurality of AD converters 23 in the readout section 13 generates the count values CNTP and CNTD. Then, the readout section 13 sequentially transfers, to the signal processing section 14, these count values CNTP and CNTD as the image signal Spic0. It is to be noted that the AD converter 23 includes the capacitors 24 and 25, the comparison circuit 26, and the counter 27 in this example; however, this is not limitative. For example, the capacitors 24 and 25 may be omitted. In addition, the AD converter 23 may have another circuit configuration.
The signal processing section 14 (
The imaging control section 15 (
The imaging control section 15 includes a reference signal generator 16. The reference signal generator 16 is configured to generate the reference signal RAMP. The reference signal RAMP has a so-called ramp waveform in which a voltage level gradually changes as time elapses during periods (P-phase period TP and D-phase period TD) in which the AD converter 23 performs AD conversion. The reference signal generator 16 supplies such a reference signal RAMP to the readout section 13.
Next, description is given of an example of implementation of the imaging apparatus 1.
As illustrated in
Here, the light-receiving pixel P corresponds to a specific example of a “light-receiving pixel” in the present disclosure. The pixel array 11 corresponds to a specific example of a “pixel array” in the present disclosure. The AD converter 23 corresponds to a specific example of an “AD converter” in the present disclosure. The readout section 13 corresponds to a specific example of a “readout section” in the present disclosure. The operation mode M1 corresponds to a specific example of a “first operation mode” in the present disclosure. The operation mode M2 corresponds to a specific example of a “second operation mode” in the present disclosure. The semiconductor substrate 101 corresponds to a specific example of a “first semiconductor substrate” in the present disclosure. The semiconductor substrate 102 corresponds to a specific example of a “second semiconductor substrate” in the present disclosure.
Now, description is given of operations and workings of the imaging apparatus 1 of the present embodiment.
First, description is given of an overview of overall operations of the imaging apparatus 1 with reference to
Description is given below of a read operation on the light-receiving pixel P in the operation mode M1. It is to be noted that the same applies to a read operation in the operation mode M2.
First, at a timing t11, a horizontal period H starts. This causes the drive section 12 to change a voltage of the control signal SSEL1 from a low level to a high level ((A) of
Then, at a timing when predetermined time has elapsed from the timing t11, the drive section 12 changes the voltage of the control signal SRST from a high level to a low level ((C) of
Next, at a timing t12, the imaging control section 15 changes the voltage of the control signal AZ from a high level to a low level ((E) of
In addition, at this timing t12, the reference signal generator 16 sets the voltage of the reference signal RAMP to the voltage V1 ((F) of
Then, during a period of timings t13 to t15 (P-phase period TP), the AD converter 23 performs AD conversion on the basis of the signal SIG. Specifically, first, at a timing t13, the reference signal generator 16 starts lowering the voltage of the reference signal RAMP in a predetermined degree of change from the voltage V1 ((F) of
Then, at a timing t14, the voltage of the reference signal RAMP falls below the voltage (reset voltage Vreset) of the signal SIG ((F) and (G) of
Next, at a timing t15, the imaging control section 15 stops the generation of the clock signal CLK upon the end of the P-phase period TP. In addition, at this timing t15, the reference signal generator 16 stops the change in the voltage of the reference signal RAMP ((F) of
Next, at a timing t16, the imaging control section 15 sets the voltage of the reference signal RAMP to the voltage V1 ((F) of
Next, at a timing t17, the drive section 12 changes a voltage of the control signal STRG from a low level to a high level ((D) of
Then, at a timing when predetermined time has elapsed from the timing t17, the drive section 12 changes the voltage of the control signal STRG from a high level to a low level ((D) of
Then, during a period of timings t18 to t20 (D-phase period TD), the AD converter 23 performs AD conversion on the basis of the signal SIG. Specifically, first, at a timing t18, the reference signal generator 16 starts lowering the voltage of the reference signal RAMP in a predetermined degree of change from the voltage V1 ((F) of
Then, at a timing t19, the voltage of the reference signal RAMP falls below the voltage (pixel voltage Vpix) of the signal SIG ((F) and (G) of
Next, at a timing t20, the imaging control section 15 stops the generation of the clock signal CLK upon the end of the D-phase period TD. In addition, at this timing t20, the reference signal generator 16 stops the change in the voltage of the reference signal RAMP ((F) of
Next, at a timing t21, the drive section 12 changes the voltage of the control signal SSEL1 from a high level to a low level ((A) of
In this manner, the readout section 13 supplies the signal processing section 14 with the image signal Spic0 including the count values CNTP and CNTD. The signal processing section 14 generates the pixel value VAL by utilizing the principle of correlated double sampling on the basis of the count values CNTP and CNTD included in the image signal Spic0, for example. Specifically, the signal processing section 14 generates the pixel value VAL by subtracting the count value CNTP from the count value CNTD, for example. Then, in response to the operation mode M, the signal processing section 14 generates a frame image by arranging the pixel values VAL. That is, as illustrated in
For example, the signal line VSL1 corresponding to the pixel group GP5 is coupled to all of the light-receiving pixels P (light-receiving pixels P5) belonging to this pixel group GP5. In the operation mode M1, the nine light-receiving pixels P5 output the signal SIG to the signal line VSL1. The switch 21 of a readout circuit 205 couples the signal line VSL1, among the signal line VSL1 and the signal line VSL2, to the AD converter 23. In this manner, the AD converter 23 of the readout circuit 205 performs AD conversion on the basis of the signals SIG supplied from the nine light-receiving pixels P5 illustrated in
As illustrated in
Such an operation mode M1 can be used, for example, when performing an ROI (Region Of Interest) operation. That is, there may be a case, in an imaging operation, where only an image of a particular region is desired to be obtained, for example. In that case, by operating the readout circuit 20 corresponding to the particular region, among the plurality of readout circuits 20, it is possible to obtain only an image of the particular region while reducing power consumption.
As illustrated in
As illustrated in
In this example, because imaging is performed on a uniform subject, it is expected that a uniform imaging result can be obtained. That is, because received light amounts in the plurality of light-receiving pixels P are the same, it is expected that all of the pixel values VAL would be substantially the same. However, for example, in a case where there is a characteristic difference between the plurality of AD converters 23 or in a case where there is a quantization error therebetween, a difference may occur between the pixel values VAL generated by the AD converters 23.
In the operation mode M1, the AD converter 23 in the readout circuit 20 performs AD conversion on the basis of the signals SIG generated by the nine light-receiving pixels P belonging to one pixel group GP. Therefore, as illustrated in (A) of
Meanwhile, in the operation mode M2, as illustrated in
In the above example, the pixel group GP includes the nine light-receiving pixels P for the sake of description. However, in reality, the pixel group GP can include several hundred light-receiving pixels P, for example.
In the example of
Further, in the example of
Next, description is given, by referring to several examples, of arrangement of the light-receiving pixels P5 that supply the signal SIG to the readout circuit 205 in the operation mode M2.
Here, attention is focused on three light-receiving pixels P5 arranged in a lateral direction. For example, light-receiving pixels P101, P102, and P103 are arranged in this order in the lateral direction. The light-receiving pixels P101 and P102 are arranged in the region of the pixel group GP5, and the light-receiving pixel P103 is arranged in a region of the pixel group GP6. The signals SIG generated by the light-receiving pixels P101 and P103 are subject to AD conversion by the AD converter 23 of the readout circuit 205 corresponding to the pixel group GP5, whereas the signal SIG generated by the light-receiving pixel P102 is subject to AD conversion by the AD converter 23 of a readout circuit 206 corresponding to the pixel group GP6.
In addition, for example, light-receiving pixels P111, P112, and P113 are arranged in this order in the lateral direction. The light-receiving pixels P111 and P112 are arranged in the region of the pixel group GP5, and the light-receiving pixel P113 is arranged in the region of the pixel group GP6. In this example, the light-receiving pixel P112 and the light-receiving pixel P113 are arranged apart from each other. The signals SIG generated by the light-receiving pixels P111 and P113 are subject to AD conversion by the AD converter 23 of the readout circuit 205 corresponding to the pixel group GP5, whereas the signal SIG generated by the light-receiving pixel P112 is subject to AD conversion by the AD converter 23 of the readout circuit 206 corresponding to the pixel group GP6.
In addition, for example, light-receiving pixels P121, P122, and P123 are arranged in this order in the lateral direction. The light-receiving pixels P121 to P123 are arranged in the region of the pixel group GP5. The signals SIG generated by the light-receiving pixels P121 and P123 are subject to AD conversion by the AD converter 23 of the readout circuit 205 corresponding to the pixel group GP5, whereas the signal SIG generated by the light-receiving pixel P122 is subject to AD conversion by the AD converter 23 of the readout circuit 206 corresponding to the pixel group GP6.
For example, light-receiving pixels P131, P132, and P133 are arranged in this order in the lateral direction. The light-receiving pixels P131 to P133 are arranged in the region of the pixel group GP5. The signals SIG generated by the light-receiving pixels P131 and P133 are subject to AD conversion by the AD converter 23 of the readout circuit 205 corresponding to the pixel group GP5, whereas the signal SIG generated by the light-receiving pixel P132 is subject to AD conversion by the AD converter 23 of the readout circuit 206 corresponding to the pixel group GP6.
In the examples of
In this manner, in the operation mode M2, the regions W2 overlap each other in the adjacent pixel groups GP, thus enabling a step difference in the pixel value VAL to be less visible in the region W2. The operation mode M2 may be used in the ROI operation, or may be used in all screen imaging operations.
For example, more natural images can be obtained by using the operation mode M2 in all screen imaging operations.
As illustrated in (A) of
In this case, the gain is set, with the region corresponding to the pixel group GP as a unit, and thus there is a possibility that an image may be unnatural at a boundary (e.g., a portion surrounded by a broken line) between a region with a lower gain and a region with a higher gain, as illustrated in (B) of
In this manner, the imaging apparatus 1 includes the pixel array 11 in which a first light-receiving element, a second light-receiving element, and a third light-receiving element are arranged in this order, and the readout section 13 including a first AD converter that performs AD conversion on the basis of each of the signal SIG generated by a first light-receiving pixel and the signal SIG generated by a third light-receiving pixel and a second AD converter that performs AD conversion on the basis of the signal SIG generated by a second light-receiving pixel. This enables, in the imaging apparatus 1, the step difference in the pixel value VAL to be still less visible, for example, in a case where there is a characteristic difference between the plurality of AD converters 23 or in a case where there is a quantization error therebetween. As a result, it is possible, in the imaging apparatus 1, to enhance image quality.
As described above, in the present embodiment, there are provided the pixel array in which the first light-receiving element, the second light-receiving element, and the third light-receiving element are arranged in this order, and the readout section including the first AD converter that performs AD conversion on the basis of each of the signal generated by the first light-receiving pixel and the signal generated by the third light-receiving pixel and the second AD converter that performs AD conversion on the basis of the signal generated by the second light-receiving pixel, thus making it possible to enhance the image quality.
The technology (the present technology) according to the present disclosure is applicable to a variety of products. For example, the technology according to the present disclosure may be achieved as an apparatus to be installed aboard any type of mobile body such as an automobile, an electric vehicle, a hybrid electric vehicle, a motorcycle, a bicycle, a personal mobility, an airplane, a drone, a vessel, or a robot.
The vehicle control system 12000 includes a plurality of electronic control units connected to each other via a communication network 12001. In the example depicted in
The driving system control unit 12010 controls the operation of devices related to the driving system of the vehicle in accordance with various kinds of programs. For example, the driving system control unit 12010 functions as a control device for a driving force generating device for generating the driving force of the vehicle, such as an internal combustion engine, a driving motor, or the like, a driving force transmitting mechanism for transmitting the driving force to wheels, a steering mechanism for adjusting the steering angle of the vehicle, a braking device for generating the braking force of the vehicle, and the like.
The body system control unit 12020 controls the operation of various kinds of devices provided to a vehicle body in accordance with various kinds of programs. For example, the body system control unit 12020 functions as a control device for a keyless entry system, a smart key system, a power window device, or various kinds of lamps such as a headlamp, a backup lamp, a brake lamp, a turn signal, a fog lamp, or the like. In this case, radio waves transmitted from a mobile device as an alternative to a key or signals of various kinds of switches can be input to the body system control unit 12020. The body system control unit 12020 receives these input radio waves or signals, and controls a door lock device, the power window device, the lamps, or the like of the vehicle.
The outside-vehicle information detecting unit 12030 detects information about the outside of the vehicle including the vehicle control system 12000. For example, the outside-vehicle information detecting unit 12030 is connected with an imaging section 12031. The outside-vehicle information detecting unit 12030 makes the imaging section 12031 image an image of the outside of the vehicle, and receives the imaged image. On the basis of the received image, the outside-vehicle information detecting unit 12030 may perform processing of detecting an object such as a human, a vehicle, an obstacle, a sign, a character on a road surface, or the like, or processing of detecting a distance thereto.
The imaging section 12031 is an optical sensor that receives light, and which outputs an electric signal corresponding to a received light amount of the light. The imaging section 12031 can output the electric signal as an image, or can output the electric signal as information about a measured distance. In addition, the light received by the imaging section 12031 may be visible light, or may be invisible light such as infrared rays or the like.
The in-vehicle information detecting unit 12040 detects information about the inside of the vehicle. The in-vehicle information detecting unit 12040 is, for example, connected with a driver state detecting section 12041 that detects the state of a driver. The driver state detecting section 12041, for example, includes a camera that images the driver. On the basis of detection information input from the driver state detecting section 12041, the in-vehicle information detecting unit 12040 may calculate a degree of fatigue of the driver or a degree of concentration of the driver, or may determine whether the driver is dozing.
The microcomputer 12051 can calculate a control target value for the driving force generating device, the steering mechanism, or the braking device on the basis of the information about the inside or outside of the vehicle which information is obtained by the outside-vehicle information detecting unit 12030 or the in-vehicle information detecting unit 12040, and output a control command to the driving system control unit 12010. For example, the microcomputer 12051 can perform cooperative control intended to implement functions of an advanced driver assistance system (ADAS) which functions include collision avoidance or shock mitigation for the vehicle, following driving based on a following distance, vehicle speed maintaining driving, a warning of collision of the vehicle, a warning of deviation of the vehicle from a lane, or the like.
In addition, the microcomputer 12051 can perform cooperative control intended for automated driving, which makes the vehicle to travel automatedly without depending on the operation of the driver, or the like, by controlling the driving force generating device, the steering mechanism, the braking device, or the like on the basis of the information about the outside or inside of the vehicle which information is obtained by the outside-vehicle information detecting unit 12030 or the in-vehicle information detecting unit 12040.
In addition, the microcomputer 12051 can output a control command to the body system control unit 12020 on the basis of the information about the outside of the vehicle which information is obtained by the outside-vehicle information detecting unit 12030. For example, the microcomputer 12051 can perform cooperative control intended to prevent a glare by controlling the headlamp so as to change from a high beam to a low beam, for example, in accordance with the position of a preceding vehicle or an oncoming vehicle detected by the outside-vehicle information detecting unit 12030.
The sound/image output section 12052 transmits an output signal of at least one of a sound and an image to an output device capable of visually or auditorily notifying information to an occupant of the vehicle or the outside of the vehicle. In the example of
In
The imaging sections 12101, 12102, 12103, 12104, and 12105 are, for example, disposed at positions on a front nose, sideview mirrors, a rear bumper, and a back door of the vehicle 12100 as well as a position on an upper portion of a windshield within the interior of the vehicle. The imaging section 12101 provided to the front nose and the imaging section 12105 provided to the upper portion of the windshield within the interior of the vehicle obtain mainly an image of the front of the vehicle 12100. The imaging sections 12102 and 12103 provided to the sideview mirrors obtain mainly an image of the sides of the vehicle 12100. The imaging section 12104 provided to the rear bumper or the back door obtains mainly an image of the rear of the vehicle 12100. The imaging section 12105 provided to the upper portion of the windshield within the interior of the vehicle is used mainly to detect a preceding vehicle, a pedestrian, an obstacle, a signal, a traffic sign, a lane, or the like.
Incidentally,
At least one of the imaging sections 12101 to 12104 may have a function of obtaining distance information. For example, at least one of the imaging sections 12101 to 12104 may be a stereo camera constituted of a plurality of imaging elements, or may be an imaging element having pixels for phase difference detection.
For example, the microcomputer 12051 can determine a distance to each three-dimensional object within the imaging ranges 12111 to 12114 and a temporal change in the distance (relative speed with respect to the vehicle 12100) on the basis of the distance information obtained from the imaging sections 12101 to 12104, and thereby extract, as a preceding vehicle, a nearest three-dimensional object in particular that is present on a traveling path of the vehicle 12100 and which travels in substantially the same direction as the vehicle 12100 at a predetermined speed (for example, equal to or more than 0 km/hour). Further, the microcomputer 12051 can set a following distance to be maintained in front of a preceding vehicle in advance, and perform automatic brake control (including following stop control), automatic acceleration control (including following start control), or the like. It is thus possible to perform cooperative control intended for automated driving that makes the vehicle travel automatedly without depending on the operation of the driver or the like.
For example, the microcomputer 12051 can classify three-dimensional object data on three-dimensional objects into three-dimensional object data of a two-wheeled vehicle, a standard-sized vehicle, a large-sized vehicle, a pedestrian, a utility pole, and other three-dimensional objects on the basis of the distance information obtained from the imaging sections 12101 to 12104, extract the classified three-dimensional object data, and use the extracted three-dimensional object data for automatic avoidance of an obstacle. For example, the microcomputer 12051 identifies obstacles around the vehicle 12100 as obstacles that the driver of the vehicle 12100 can recognize visually and obstacles that are difficult for the driver of the vehicle 12100 to recognize visually. Then, the microcomputer 12051 determines a collision risk indicating a risk of collision with each obstacle. In a situation in which the collision risk is equal to or higher than a set value and there is thus a possibility of collision, the microcomputer 12051 outputs a warning to the driver via the audio speaker 12061 or the display section 12062, and performs forced deceleration or avoidance steering via the driving system control unit 12010. The microcomputer 12051 can thereby assist in driving to avoid collision.
At least one of the imaging sections 12101 to 12104 may be an infrared camera that detects infrared rays. The microcomputer 12051 can, for example, recognize a pedestrian by determining whether or not there is a pedestrian in imaged images of the imaging sections 12101 to 12104. Such recognition of a pedestrian is, for example, performed by a procedure of extracting characteristic points in the imaged images of the imaging sections 12101 to 12104 as infrared cameras and a procedure of determining whether or not it is the pedestrian by performing pattern matching processing on a series of characteristic points representing the contour of the object. When the microcomputer 12051 determines that there is a pedestrian in the imaged images of the imaging sections 12101 to 12104, and thus recognizes the pedestrian, the sound/image output section 12052 controls the display section 12062 so that a square contour line for emphasis is displayed so as to be superimposed on the recognized pedestrian. The sound/image output section 12052 may also control the display section 12062 so that an icon or the like representing the pedestrian is displayed at a desired position.
An example of the vehicle control system to which the technology according to the present disclosure is applicable has been described above. The technology according to the present disclosure is applicable to the imaging section 12031 among the above-described components. The imaging apparatus to be installed aboard a vehicle makes it possible to increase the image quality of a captured image. As a result, it is possible for the vehicle control system 12000 to achieve, with high accuracy, a collision avoidance or collision mitigation function for the vehicle, a following driving function based on vehicle-to-vehicle distance, a vehicle speed maintaining driving function, a warning function against collision of the vehicle, a warning function against deviation of the vehicle from a lane, and the like.
Although the present technology has been described above with reference to the embodiment and the specific practical application example thereof, the present technology is not limited to the embodiment and the like, and may be modified in a wide variety of ways.
For example, in the foregoing embodiment, the number of the light-receiving pixels P in the longitudinal direction and the number of the light-receiving pixels P in the lateral direction in the pixel group GP are the same as each other, but this is not limitative; they may be different from each other.
For example, the example of the arrangement of the light-receiving pixels P5 is not limited to the examples in
It is to be noted that the effects described in the present specification are merely exemplary and non-limiting, and other effects may also be achieved.
It is to be noted that the present technology may have the following configurations. The present technology of the following configurations makes it possible to enhance the image quality.
An imaging apparatus including:
The imaging apparatus according to (1), in which
The imaging apparatus according to (2), in which
The imaging apparatus according to (3), in which
The imaging apparatus according to (3) or (4), in which the second light-receiving pixel and the third light-receiving pixel are adjacent to each other in the first direction.
The imaging apparatus according to (3) or (4), in which the second light-receiving pixel and the third light-receiving pixel are arranged apart from each other in the first direction.
The imaging apparatus according to any one of (3) to (6), in which
The imaging apparatus according to (7), in which, in the region of the second region, a pixel density of the two or more light-receiving pixels at a location distant by a first distance from the boundary between the first region and the second region is lower than a pixel density of the two or more light-receiving pixels at a location distant from the boundary by a second distance which is shorter than the first distance.
The imaging apparatus according to any one of (3) to (8), in which
The imaging apparatus according to (2), in which
The imaging apparatus according to (10), in which
This application claims the priority on the basis of Japanese Patent Application No. 2021-009618 filed with the Japan Patent Office on Jan. 25, 2021, the entire contents of which are incorporated herein by reference.
It should be understood by those skilled in the art that various modifications, combinations, sub-combinations, and alterations may occur depending on design requirements and other factors insofar as they are within the scope of the appended claims or the equivalents thereof.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-009618 | Jan 2021 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/047979 | 12/23/2021 | WO |
